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Sai Anirudh Kondaveeti's profile - activity

2015-07-28 12:37:21 -0500 commented answer Pose going up and constant "Visual Odometry got Lost!" message

Are you getting good odometry results?

2015-06-03 17:16:08 -0500 commented answer viso2 stereo disparity

Is that normal? I am also adding the point-cloud generated by viso2 and stereo_image_proc

2015-06-03 17:14:39 -0500 commented answer viso2 stereo disparity

Ok. I realised that the point cloud generated by viso2 is very sparse. Also I see that even-though my setup is at rest there is movement in rviz. Also observed that point cloud generated by viso2 is in -ve z- direction where as the pointcloud generated by stereo_image_proc is in +ve z-direction

2015-06-02 14:08:42 -0500 commented answer viso2 stereo disparity

Also I have kept my min_disparity:= -128 and disparity_range:=128 to have maximum range. Should I be optimizing on that ?[Computation cost is not a problem for me at the moment.]

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2015-06-02 13:53:05 -0500 commented answer viso2 stereo disparity

Thanks. I am working the on things you suggested.I kept approximate_sync:=true for the stereo_image_proc node.I used rostopic echo /stereo/left/camera_info and rostopic echo /stereo/right/camera_info and matched the seq to get time stamps. I hope that's correct way.Updated question

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2015-05-27 10:21:33 -0500 commented answer Trouble building fovis_ros on Hydro

Thanks, but it didn't work for me.

2015-05-26 23:37:19 -0500 commented answer Trouble building fovis_ros on Hydro

I am still facing the same problem. I installed libfovis via apt-get then I 'git clone' the repository and then checked out to hydro branch. but still I get this error

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2015-05-26 19:04:35 -0500 asked a question viso2 stereo disparity

I am trying to use viso2_ros . So I calibrated my stereo camera set.image description

Does the distance between the cameras matter much?Is this setup good enough?

image description image description

The above are my calibration results.Is that fine? I didn't get any reprojection error as mention in this post. It just showed ? under epi . Is that okay.Around 180 samples were used in calibration.

Then I used stereo_image_proc package and then tried to optimize the parameters

image description

A few more disparity maps image description

Are the disparity maps ok? Any suggestions on improving them? Is it okay to have grey background?

The following is the tf and rqt_graph image description image description

Is that correct? My knowledge on tf is basic and limited as I am a beginner. The following is the launch file used to generate the tf tree.

image description

cambase is nothing but the left camera as suggested in this post.

I also checked the ~info topic messages of stereo odometer. the number of inlier's is very low i.e less than 10 and the number of matches is at max 25 . How do I improve upon it? I am always getting

Visual Odometer got lost!

even when the setup is at rest. How do I improve the inliers and get my system running? Are the things setup till now correct like the calibration and tf tree.


OS: Ubuntu 12.04

ROS distro: Hydro

Camera: PS3 eyecamera X 2 ---- 640x480 @ 60fps

P.S: If anything is not clear please let me know. This my first post. I have also read the following posts before asking and tried to improve from those suggestions

  1. Post 1
  2. Post 2
  3. Post 3
  4. Post 4


Point cloud generated by running viso2 . It is just some dots behind the camera.

image description

point cloud generated by stereo_image_proc

image description

This is the output of rostopic echo /stereo/left/camera_info and rostopic echo /stereo/right/camera_info . I hope it is correct to compare to seq with same id. image description

Also my stereo set is running at 640x480 @ 60fps

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2015-05-21 13:47:50 -0500 commented answer How to obtain depth map from stereo camera ?

How did you change the parameters in real time?. thanks